Modeling, identification & control of robots /

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Written by two of Europes leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It cover...

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Bibliographic Details
Call Number:Libro Electrónico
Main Author: Khalil, W. (Wisama)
Other Authors: Dombre, E. (Etienne)
Format: Electronic eBook
Language:Inglés
Published: London ; Sterling, VA : Kogan Page Science, 2004, �2002.
Series:Kogan Page Science paper edition.
Subjects:
Robots > Mathematical models.
Robots > Dynamics.
Robots > Control systems.
Robots > Dynamique.
Robots > Syst�emes de commande.
TECHNOLOGY & ENGINEERING > Robotics.
Online Access:Texto completo
Table of Contents:
  • Terminology and general definitions
  • Transformation matrix between vectors, frames and screws
  • Direct geometric model of serial robots
  • Inverse geometric model of serial robots
  • Direct kinematic model of serial robots
  • Inverse kinematic model of serial robots
  • Geometric and kinematic models of complex chain robots
  • Introduction to geometric and kinematic modeling of parallel robots
  • Dynamic modeling of serial robots
  • Dynamics of robots with complex structure
  • Geometric calibration of robots
  • Identification of the dynamic parameters
  • Trajectory generation
  • Motion control
  • Compliant motion control.

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